Self-Triggered Control of Multi-Agent Systems With External Disturbances

Jing Zhu,Xiang Li

doi:10.3389/fcteg.2022.835052

Abstract

This paper investigates the consensus of multi-agent systems (MASs) by virtue of event-triggered mechanism. Considering the existence of external disturbances, we use a disturbance observer to estimate the disturbance signals and eliminate the corresponding effects by using estimators to compensate the input control terms. The self-triggered condition is designed and proved that there is no Zeno behavior. We show that the proposed disturbance observer can estimate the external disturbance signals well under the self-triggered condition. Finally, simulation examples are presented to verify the theoretical results.

Highlights

Inspired by the behavior of cluster organisms in nature, people find that the ability of a distributed network system is far better than the sum of individual abilities when encountering large-scale complex tasks
We show that the proposed disturbance observer can estimate the external disturbance signal exponentially, and the self-triggered control mechanism can make the system consensus without Zeno behavior
The disturbance observer performs continuous real-time estimation of an external disturbance and compensates the estimation to the plant to eliminate the influence of the disturbance

Summary

Introduction

Inspired by the behavior of cluster organisms in nature, people find that the ability of a distributed network system is far better than the sum of individual abilities when encountering large-scale complex tasks. More attention has been paid to the study of multi-agent systems (MASs), especially to the formation control problem (Beard et al (2001), Dai et al (2018), and He et al (2019)), the consensus problem (Yuan et al (2008) and Li et al (2015)), and the flocking problem (Olfati-Saber (2006) and Chen et al (2019)) in MASs. In practice, most control systems are subjected to uncertainties caused by time delay, inaccurate modeling, or external disturbance, which may largely degrade the system performance somehow. For the containment control problem of the multi-agent system, Xiao et al (2017) use the disturbance observer to estimate the exogenous disturbances, and propose the distributed containment control protocol, and obtain sufficient conditions by using Lyapunov theories. As for three-phase two-level gridconnected power converters, Liu et al (2017) put forward the extended state observer (ESO) by

Methods

Results

Conclusion